Abstract:

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Because of the shortage of the online adjustment of parameters in fuzzy logic controller, a fuzzy logic controller based on particle swarm optimization was presented. Improved particle swarm optimization was used to optimize he numerical factor ke, kec and scale factor ku of fuzzy logical controller online increasing the robustness of overall system and this controller was applied in the control of brushless direct current motor. Controller parameters can be adjusted in TMS320F2812DSP experimental platform on-line, with the advantages of fast response, steady-state error is small and adaptability.

Abstract: For the difficulties of PID controller parameter optimization, we have put forward a novel depiction method PPOGS (PID Parameters Optimization based on Glowworm Swarm). By combining the minimum error absolute time integral definition proportion, the objective optimal functions of integral and differential functions, this method can produce the optimal allocation with the help of the glowworm swarm algorithm which seeks solution to the objective function. At last, we use MATLAB to make a simulation experiment, conducting an in-depth investigation of the key factors influencing the method. The results have showed PPOGS has better adaptability compared with other methods
Key words: PID controller; parameter optimization; glowworm swarm; simulation

Abstract: In this paper we propose the gripper handle real-time based embedded system for operating robot manipulator. The general gripper has only a simple function and has also I/O module. Thus general gripper and position based robot controller combination is not suitable for precision process operation, IT assembly process. In order to give various functions and intelligence to the gripper, it is necessary to have an embedded controller that real-time guarantees. The proposed embedded system have five component that handle the pose of the gripper, measure the pose and translation of gripper, motoring the gripping tip, operate the stiffness of the gripper and communicate with Ethernet interface to the external robot controller. The external robot interface parts are supported to communicate with various external robot maker, KUKA, DENSO, ROBOSTAR etc. The validation and functional ability is tested on the LAB environment.